CN208648691U

CN208648691U - A kind of adjustable, facilitation mechanical arm for bottle body sealing

Info

Publication number: CN208648691U
Application number: CN201821075365.0U
Authority: CN
Inventors: 薛敏强
Original assignee: Individual
Current assignee: Individual
Priority date: 2018-07-09
Filing date: 2018-07-09
Publication date: 2019-03-26
Anticipated expiration: 2028-07-09

Abstract

The utility model discloses a kind of adjustable, facilitation mechanical arms for bottle body sealing, it include: robot and control device, pedestal, column and mechanical arm are equipped in robot, column is set on pedestal, column is equipped with long rails, and the connecting pin of mechanical arm and column is equipped with connection frame, and connection frame is equipped with longitudinal sliding block far from the side of mechanical arm, longitudinal sliding block is installed in long rails, and longitudinal sliding block is connect with longitudinal sliding block driving mechanism；Mechanical arm is equipped with disk far from one end of column, and disk is connect with disk driving mechanism, and the portion of disk is equipped with limit hole, and the side of limit hole is equipped with manipulator；Disk is equipped with position detecting device and position sensor, by the way that long rails are arranged on column in the utility model, mechanical arm is passed through into connection frame and longitudinal sliding block, the height of mechanical arm is adjusted, the setting in the lower limit hole of the disk, the stability of its crawl and installation is improved, the setting of position detecting device and position sensor improves the accuracy of bottle cap installation.

Description

A kind of adjustable, facilitation mechanical arm for bottle body sealing

Technical field

The utility model belongs to manufacturing field, in particular to a kind of adjustable, facilitation machine for bottle body sealing Tool arm.

Background technique

With the rapid development of social economy, the production of either people's lives or enterprise all gradually realizes the modern times Change and intelligent, since it is too big to artificial dependence, production equipment more falls behind for some traditional processing enterprises, production Low efficiency, processing quality is poor, so as to cause enterprise competitiveness decline, or even fatefulue strike can be brought to enterprise.Thus work as Preceding many enterprises all realize transition continuous, gradually make the transition scientific and technological enterprises from traditional Processing Firm, enterprise turns Type becomes medium-sized and small enterprises' the only way which must be passed.

It is also in many industries such as food, drug in this way, needing bottle body support container for the product of some productions Enterprise, the wherein installation of bottle cap is an important process, the bottle cap installation of most original completely manually, due to people can not Control property, the quality disunity for causing its bottle cap to be installed, causes yields low, while bottle cap installation is bad, not only results in bottle The article pot-life shortens, while can also conveyer belt be given to carry out many trouble, this with regard to some automation equipments of fasciation generation, However current bottle cap installation equipment its be all the integrated large scale equipment that large-scale slave product is filled to bottleneck capping mostly, It not only takes up a large area, and its price is very high, is heavy burden for some medium-sized and small enterprises, it also can serious shadow Ring the subsequent development of enterprise.

It is many still to use original material-uploading style, the serious influence of feeding meanwhile in the installation equipment of current bottle cap Its installation effectiveness.And fixed when the position of existing installation its work of equipment, once position fixation cannot be moved arbitrarily It is dynamic, unless move to whole equipment, however in actual production process, it inevitably will appear error, and existing equipment Appropriate adjustment can not be carried out according to practical situation, this just will appear neglected loading or accidentally fills.

Utility model content

Purpose of utility model: in order to overcome the above deficiency, the purpose of the utility model is to provide one kind to seal for bottle body Adjustable, facilitation mechanical arm, structure is simple, and design rationally, is readily produced, high degree of automation, reduces hand labor Amount, improves work efficiency, and by the way that long rails are arranged on column, by mechanical arm by connection frame and longitudinal sliding block, allows Longitudinal sliding block is moved up and down along long rails, and the height of mechanical arm is adjusted, and allows it can be according to the practical feelings of production Condition is adjusted；

The setting of the lower part inner groovy of the disk increases its being bonded with bottle cap, the top of bottle cap is allowed to be stuck in inner groovy In, certain position-limiting action can be played to it, improves the stability of its crawl and installation, at the same time, for examining on disk The setting for surveying the position detecting device and the position sensor for detecting bottle cap position of position of bottleneck, respectively to bottleneck and bottle cap Present position is detected, greatly improve bottle cap installation accuracy, also effectively raise its installation precision and Installation effectiveness, and then it is allowed to better meet the demand of enterprise's production.

Technical solution: to achieve the goals above, the utility model provides a kind of being adjusted, just for bottle body sealing Victoryization mechanical arm, comprising: robot and control device are equipped with pedestal, column and mechanical arm in the robot, and the column is set In on pedestal, and the column is equipped with long rails, and the connecting pin of the mechanical arm and column is equipped with connection frame, the connection Frame is equipped with longitudinal sliding block far from the side of mechanical arm, and the longitudinal sliding block is installed in long rails, and the longitudinal sliding block with The connection of longitudinal sliding block driving mechanism；

The mechanical arm is equipped with disk far from one end of column, and the disk is connect with disk driving mechanism, and the circle The lower part of disk is equipped with limit hole, and the outside of the limit hole is equipped with manipulator；And the disk is equipped with for detecting bottleneck position The position detecting device set and the position sensor for detecting bottle cap position, the inside of the manipulator is equipped with protrusion, described Disk and mechanical arm use movable connection, and the depth of the limit hole is less than the height with bottle cap；

The mechanical arm, disk, manipulator, longitudinal sliding block driving mechanism and position detecting device and position sensor are equal It is connect with control device.

A kind of adjustable, facilitation mechanical arm for bottle body sealing described in the utility model, by column Upper setting long rails allow longitudinal sliding block to move up and down along long rails by mechanical arm by connection frame and longitudinal sliding block, right The height of mechanical arm is adjusted, it can be adjusted according to the actual conditions of production；

The setting in the lower limit hole of the disk increases its being bonded with bottle cap, the top of bottle cap is allowed to be stuck in limit hole In, certain position-limiting action can be played to it, improves the stability of its crawl and installation, at the same time, for examining on disk The setting for surveying the position detecting device and the position sensor for detecting bottle cap position of position of bottleneck, respectively to bottleneck and bottle cap Present position is detected, greatly improve bottle cap installation accuracy, also effectively raise its installation precision and Installation effectiveness, and then it is allowed to better meet the demand of enterprise's production.

Pedestal described in the utility model is equipped with cross track, and the lower part of the column is equipped with fixing seat, the fixation Seat lower section is equipped with the transverse slider connecting with cross track, and the transverse slider is connect with transverse slider driving mechanism, and described Rotating disk is equipped in fixing seat, the column makees rotation connection by rotating disk and fixing seat, and the rotating disk and turntable drive Mechanism connection, the transverse slider driving mechanism and rotary disc driving mechanism are connect with control device.

The setting of the pedestal upper rail allows column lower part to connect by the transverse slider below fixing seat with cross track It connects, during transverse slider is moved along cross track, the lateral position of column is adjusted, to make the mechanical arm real The movement of existing lateral position, to effectively improve its range used；

Meanwhile in fixing seat rotating disk setting, allow mechanical arm to can be realized the rotation of angle, greatly improve itself and its The fitness of his equipment, and then it is allowed to better meet the demand of production.

Forearm and postbrachium are equipped in mechanical arm described in the utility model, the forearm and postbrachium are connected using extension type It connects, the postbrachium is connect by connection frame with column, and the forearm and postbrachium junction are equipped with strengthening mechanism.

Forearm and postbrachium use telescopic connection in the upper arm, allow it can be according to the height of realization needed to upper arm Be adjusted, further increase its applicability, meanwhile, the setting of strengthening mechanism, greatly improve connected between two columns it is steady Safety that is qualitative and using.

One group of perforation, the forearm and postbrachium junction are equipped on forearm described in the utility model and postbrachium by stretching Contracting card key passes through corresponding perforation on forearm and postbrachium, and, the both ends of the flexible card key are equipped with anti-skidding block piece, the anti-skidding gear Part is detachably connected with flexible card key both ends.

The forearm is connected with postbrachium using punched-type, flexible convenient for realizing between the two, meanwhile, the outside for card key of stretching Anti-skidding block piece is set, can effectively prevent flexible card key from falling off, to further increase the stability of its connection and use Safety provides guarantee to production.

Protective shell in strengthening mechanism described in the utility model, the protective shell both ends are tapered, are set to forearm with after The junction of arm, and the protective shell extends from the junction of the two to two sides, the protective shell and forearm and postbrachium use can It is detachably connected with, and, the inside of the protective shell is equipped with protective jacket, and the protective jacket is equipped with texture.

The protective shell both ends use the setting of taper, greatly improve the compactness of protective shell connected between component And supportive, the effect of its reinforcing, and the wherein setting of the protective jacket in protective shell are further increased, protective shell is effectively prevented Upper arm or lower arm are caused to wear, thus also play a very good protection to it while playing reinforcing to them, it is described The setting of texture can effectively prevent slippage problems on protective jacket, improve the compactness of connection.

The side of column described in the utility model is equipped with feed tank, and the feed tank is equipped with lid treatment device and feed Platform is equipped with reason charging tray in the lid treatment device, and the lower section of the reason charging tray is equipped with vibrator, and equipped with spiral in the reason charging tray The opening direction of track, bottom towards the reason charging tray of the helical orbit self-care charging tray is arranged in the shape of a spiral, the helical orbit It is communicated with rollway, and is equipped with position-limit mechanism, the rollway at the outlet end of the helical orbit and the feed inlet of rollway It is equipped with bottle cap testing agency for detecting bottle cap direction and for detecting whether there is the infrared detector of bottle cap, and described Helical orbit, position-limit mechanism, bottle cap testing agency and infrared detector are connect with control device.

Feed tank is set on column in the utility model, allows bottle cap feed to realize integrated design with installation, from structure On entire mechanical arm is optimized, save equipment input cost, the problem of very good solution artificial loading, improve its confession Expect speed, further increase its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, to greatly improve The time entirely installed, further it is allowed to meet the needs of client；

Bottle cap testing agency to bottle cap direction detect, once detection towards it is correct when, then by infrared ray inspection It surveys instrument to detect the specific location of bottle cap, then mechanical arm will grab bottle cap, and will according to the position of the product of its detection Bottle cap grabs on corresponding bottle body, greatly improves the accuracy of manipulator crawl bottle cap, avoids the occurrence of the phenomenon that accidentally grabbing, Certain energy-saving effect is played, so that the mechanical arm be allowed to realize energy conservation, efficient effect.

Material return mechanism is additionally provided on feed tank described in the utility model, described material return mechanism one end is by conveyer belt and supplies The feed inlet of hopper connects, and one end is connect with rollway, and the material return mechanism is connect with control device.

The direction of bottle cap detects in the bottle cap testing agency, if the direction of bottle cap as the result is shown of detection is not right, So bottle cap will be sent in material return mechanism by rollway by conveyer belt, and pass through the conveyer belt in recovering mechanism for recycling Bottle cap is sent into feed tank, avoids the occurrence of maloperation, is resulted in waste of resources.

The setting of the outlet end of the initial position and helical orbit of rollway described in the utility model is in same horizontal line On, and the outlet end of the helical orbit is equipped with inner groovy, the rollway is in outer gibbosity close to the side of helical orbit, and its End close to helical orbit is oblique, and the feed inlet of the material return mechanism is in outer gibbosity, is located at feed back on the rollway The side of mechanism is equipped with inner groovy, and the rollway and helical orbit and material return mechanism match.

The concavo-convex cooperation of the rollway and material return mechanism and helical orbit, can effectively ensure that on helical orbit Bottle cap can smoothly enter into rollway, also can smoothly be sent to material return mechanism towards underproof bottle cap on rollway In, so that it be allowed to better meet the demand of production.

It is equipped with feeding orbit positioned at the side of rollway on feed tank described in the utility model, the rollway passes through cunning Block is connect with feeding orbit, and the sliding block is connect with slider-actuated mechanism, and the slider-actuated mechanism is connect with control device, and The rollway is equipped with groove, is equipped with conveyer belt in the groove.

It can be adjusted according to height of the actual demand to rollway for the setting of feeding orbit on the feed tank It is whole, and the setting of rollway upper groove, guarantee bottle cap can normal movement while, be also convenient for the bottle cap for entering rollway It is limited, it is avoided to slide in moving process.

A kind of adjustable, facilitation mechanical arm for bottle body sealing described in the utility model, this is used for bottle body envelope The adjustable of mouth, the specific working principle of facilitation mechanical arm:

1): efficient mechanical arm being assembled first, i.e., forearm and postbrachium are first passed through into forearm with after by flexible card key Corresponding perforation is attached on arm, then installs anti-skidding block piece, then the connection in forearm and postbrachium at the both ends of flexible card key Place's setting strengthening mechanism, so far mechanical arm is installed；

2): and then column makees rotation connection by rotating disk and fixing seat, fixing seat passes through transverse slider and cross track Connection；Mechanical arm and connection frame are installed again, i.e., longitudinal sliding block is fixedly connected with connection frame, is then installed to longitudinal sliding block In long rails, and longitudinal sliding block is connect with longitudinal sliding block driving mechanism；At the same time, feed tank is assembled, then The feed tank being completed is installed to the inside of column, it is allowed to match with forearm；

3): position detecting device, position sensor, bottle cap testing agency and infrared detector being installed to again corresponding Position, then control circuit is attached, it can come into operation；

4): during the work time, bottle cap being placed in feed tank first；

5): the motor driven vibrator in feed tank is vibrated, and bottle cap is allowed to move along helical orbit to rollway direction It is dynamic, when bottle cap is run to the feed inlet of rollway, whether there is bottle cap on infrared sensor detection rollway, if detection supplies There is bottle cap on material platform, then bottle cap will be to motionless in situ, when its detection structure is displayed without bottle cap, control device will be ordered Position-limit mechanism is opened, and is allowed bottle cap to can smoothly enter into rollway, and enter in the groove on rollway, is passed through the conveyer belt below groove Bottle cap is driven to be moved to the designated position of rollway；

6): then bottle cap testing agency to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control Bottle cap is delivered on material return mechanism by device by order conveyer belt, and bottle cap is sent to the feed inlet of feed tank by conveyer belt, If the bottle cap of detection is towards meeting the requirements, control device starts to work order mechanical arm；

7): control device command position sensor detects the position of bottle cap first, then according to detection as a result, Order manipulator grabs the bottle cap on rollway, and the top of bottle cap is stuck in the limit hole of disk；

8): and then control device detects command position detection device to the position of bottleneck on bottle body, and will test Result send control device to, then the data processing module in control device, analyzes data, analyzes to obtain bottle outlet Specific location；

10): to after control device obtains the specific location of bottleneck, drive manipulator by mechanical arm in previous step It will be on the bottle cap that grabbed in step 7) to corresponding bottleneck；

11): and then disc rotary is driven by disk driving mechanism, during disk and manipulator rotate simultaneously, Bottle cap is tightened；

12): in above-mentioned steps 4) in 11), its lateral position can be adjusted according to the actual needs of robot, The fixing seat of the lower part of column is allowed to be moved to suitable position along cross track, and column is carried out by the rotating disk in fixing seat Direction adjustment；

13): meanwhile, the length and height of mechanical arm can also be adjusted according to the actual needs, the length of mechanical arm Adjustment can be realized by stretch to forearm and postbrachium junction in degree；

The height of mechanical arm adjusts, i.e., drives longitudinal sliding block along moving down on long rails by longitudinal sliding block driving mechanism It is dynamic, due to allowing mechanical arm to connect by connection frame with longitudinal sliding block, thus during longitudinal sliding block moves up and down, band together Dynamic mechanical arm is mobile, to realize the height adjustment of mechanical arm；

14): at the same time, rollway is moved up and down along feeding orbit during the work time, by sliding block, to rollway Position be adjusted.

Above-mentioned technical proposal can be seen that the utility model has the following beneficial effects:

1, a kind of adjustable, facilitation mechanical arm for bottle body sealing described in the utility model, by vertical Long rails are set on column, by mechanical arm by connection frame and longitudinal sliding block, longitudinal sliding block are allowed to move up and down along long rails, The height of mechanical arm is adjusted, it can be adjusted according to the actual conditions of production；

2, pedestal described in the utility model is equipped with cross track, and the lower part of the column is equipped with fixing seat, described solid The transverse slider connecting with cross track is equipped with below reservation；The setting of the pedestal upper rail, allows column lower part to pass through fixation The transverse slider of seat lower section is connect with cross track, during transverse slider is moved along cross track, the cross of column Be adjusted to position, thus allow the mechanical arm realize lateral position movement, to effectively improve its range used.

3, rotating disk is equipped in the fixing seat, the column makees rotation connection, the rotation by rotating disk and fixing seat Turntable is connect with rotary disc driving mechanism, and the transverse slider driving mechanism and rotary disc driving mechanism are connect with control device；Gu The setting of rotating disk in reservation, allows mechanical arm to can be realized the rotation of angle, greatly improves its fitness with other equipment, And then it is allowed to better meet the demand of production.

4, forearm and postbrachium are equipped in mechanical arm described in the utility model, the forearm and postbrachium are connected using extension type It connects, the postbrachium is connect by connection frame with column, and the forearm and postbrachium junction are equipped with strengthening mechanism；

5, it is equipped with one group of perforation on forearm described in the utility model and postbrachium, the forearm and postbrachium junction pass through Flexible card key passes through corresponding perforation on forearm and postbrachium, and, the both ends of the flexible card key are equipped with anti-skidding block piece, described anti-skidding Block piece is detachably connected with flexible card key both ends；

7, protective shell in strengthening mechanism described in the utility model, the protective shell both ends are tapered, be set to forearm and The junction of postbrachium, and the protective shell extends from the junction of the two to two sides, the inside of the protective shell is equipped with protective jacket, The protective jacket is equipped with texture；

8, the side of column described in the utility model is equipped with feed tank, allow bottle cap feed with install that realization is integrated sets Meter, optimizes entire mechanical arm from structure, save equipment input cost, asking for artificial loading of very good solution Topic, improves its feeding speed, further increases its installation effectiveness, while also shortening the time of manipulator crawl bottle cap, thus The time entirely installed is greatly improved, further it is allowed to meet the needs of client.

9, rollway described in the utility model is equipped with for detecting the bottle cap testing agency in bottle cap direction and for examining Survey the infrared detector for whether having bottle cap, and the helical orbit, position-limit mechanism, bottle cap testing agency and infrared detector It is connect with control device；

10, material return mechanism is additionally provided on feed tank described in the utility model, described material return mechanism one end passes through conveyer belt It is connect with the feed inlet of feed tank, one end is connect with rollway, and the material return mechanism is connect with control device；

11, the setting of the outlet end of the initial position and helical orbit of rollway described in the utility model is in same level On line, and the outlet end of the helical orbit is equipped with inner groovy, and the rollway is in outer gibbosity, institute close to the side of helical orbit The feed inlet for stating material return mechanism is in outer gibbosity, and the side that material return mechanism is located on the rollway is equipped with inner groovy, and the confession Material platform and helical orbit and material return mechanism match；

12, it is equipped with feeding orbit positioned at the side of rollway on feed tank described in the utility model, the rollway is logical It crosses sliding block to connect with feeding orbit, the sliding block is connect with slider-actuated mechanism, and the slider-actuated mechanism and control device connect It connects, and the rollway is equipped with groove, is equipped with conveyer belt in the groove；

Detailed description of the invention

Fig. 1 is adjustable, facilitation mechanical arm the structural schematic diagram described in the utility model for bottle body sealing；

Fig. 2 is the structural schematic diagram of feed tank in the utility model；

Fig. 3 is the connection schematic diagram of material return mechanism and rollway in the utility model；

Fig. 4 is the partial structural diagram of manipulator in the utility model；

In figure: robot 1, control device 2,

Pedestal 11, column 12, mechanical arm 13,

Long rails 121,

Connection frame 131,

Longitudinal sliding block 3,

Disk 4,

Limit hole 41

Manipulator 42,

Position detecting device 43,

Protrusion 421,

Cross track 111,

Fixing seat 122,

Transverse slider 123

Rotating disk 124

Forearm 132,

Postbrachium 133,

Flexible card key 134,

Anti-skidding block piece 135,

Strengthening mechanism 5,

Protective shell 51,

Feed tank 6,

Lid treatment device 61,

Rollway 62,

Helical orbit 612,

Position-limit mechanism 613,

Bottle cap testing agency 621,

Infrared detector 622,

Material return mechanism 7,

Feeding orbit 63,

Conveyer belt 623.

Specific embodiment

In the following with reference to the drawings and specific embodiments, the utility model is furtherd elucidate.

Embodiment 1

A kind of adjustable, facilitation mechanical arm for bottle body sealing as shown in the figure, comprising: robot 1 and control dress 2 are set, pedestal 11, column 12 and mechanical arm 13 are equipped in the robot 1, the column 12 is set on pedestal 11, and described vertical Column 12 is equipped with long rails 121, and the connecting pin of the mechanical arm 13 and column 2 is equipped with connection frame 131, the connection frame 131 Side far from mechanical arm 13 is equipped with longitudinal sliding block 3, and the longitudinal sliding block 3 is installed in long rails 121, and described longitudinal sliding Block 3 is connect with longitudinal sliding block driving mechanism；

The mechanical arm 13 is equipped with disk 4 far from one end of column 12, and the disk 4 is connect with disk driving mechanism, and The lower part of the disk 4 is equipped with limit hole 41, and the outside of the limit hole 41 is equipped with manipulator 42, and the disk 4 is equipped with Position sensor 44 for detecting the position detecting device 43 of position of bottleneck and for detecting bottle cap position, the manipulator 42 Inside be equipped with protrusion 421, the disk 4 uses movable connection with mechanical arm 13, and the depth of the limit hole 41 is less than With the height of bottle cap, the mechanical arm 13, disk 4, manipulator 42, longitudinal sliding block driving mechanism and position detecting device 43 and Position sensor 44 is connect with control device 2.

Embodiment 2

Pedestal 11 described in the present embodiment is equipped with cross track 111, and the lower part of the column 12 is equipped with fixing seat 122, The transverse slider 123 connecting with cross track 111, the transverse slider 123 and transverse slider are equipped with below the fixing seat 122 Driving mechanism connection, and rotating disk 124 is equipped in the fixing seat 122, the column 12 passes through rotating disk 124 and fixing seat 122 make rotation connection, and the rotating disk 124 is connect with rotary disc driving mechanism, the transverse slider driving mechanism and turntable driving Mechanism is connect with control device 2.

Embodiment 3

Forearm 132 and postbrachium 133 are equipped in mechanical arm 13 described in the present embodiment, the forearm 132 and postbrachium 133 use Telescopic connection, the postbrachium 133 are connect by connection frame 131 with column 12, and the forearm 132 and postbrachium 133 connect Place is equipped with strengthening mechanism 5.

Embodiment 4

One group of perforation is equipped on forearm 132 described in the present embodiment and postbrachium 133, the forearm 132 and postbrachium 133 connect It meets place and corresponding perforation on forearm 132 and postbrachium 133 is passed through by flexible card key 134, and, the both ends of the flexible card key 134 Equipped with anti-skidding block piece 135, the anti-skidding block piece 135 is detachably connected with flexible 134 both ends of card key.

Embodiment 5

Protective shell 51 in strengthening mechanism 5 described in the present embodiment, 51 both ends of protective shell are tapered, are set to forearm 132 and postbrachium 133 junction, and the protective shell 51 from both junction extend to two sides, the protective shell 51 is with before Arm 132 and postbrachium 133 use detachable connection, and, the inside of the protective shell 51 is equipped with protective jacket, sets on the protective jacket It is textured.

Embodiment 6

The side of column 12 described in the present embodiment is equipped with feed tank 6, and the feed tank 6 is equipped with lid treatment device 61 and supplies Expect platform 62, reason charging tray 611 is equipped in the lid treatment device 61, the lower section of the reason charging tray 611 is equipped with vibrator, and the reason is expected Helical orbit 612 is equipped in disk 611；

The opening direction of the bottom of the 612 self-care charging tray 611 of helical orbit towards reason charging tray 611 is arranged in the shape of a spiral, The helical orbit 612 is communicated with rollway 62, and is set at the outlet end of the helical orbit 612 and the feed inlet of rollway 62 Limited position mechanism 613；

The rollway 62 is equipped with the bottle cap testing agency 621 for detecting bottle cap direction and for detecting whether there is bottle The infrared detector 622 of lid, and the helical orbit 612, position-limit mechanism 613, bottle cap testing agency 621 and infrared detection Instrument 622 is connect with control device 2.

Embodiment 7

Material return mechanism 7 is additionally provided on feed tank 6 described in the present embodiment, and the material return mechanism 7 and control device 2 connect It connects.

The setting of the outlet end of the initial position and helical orbit 612 of rollway 62 described in the present embodiment is in same level On line, and the outlet end of the helical orbit 612 is equipped with inner groovy, and the rollway 62 is in close to the side of helical orbit 612 Outer gibbosity, and it is oblique close to the end of helical orbit 612, the feed inlet of the material return mechanism 7 is in outer gibbosity, the confession Expect that the side for being located at material return mechanism 7 on platform 62 is equipped with inner groovy, and the rollway 62 and helical orbit 612 and material return mechanism 7 match.

Embodiment 8

The setting of the outlet end of the initial position and helical orbit 612 of rollway 62 described in the present embodiment is in same level On line, and the outlet end of the helical orbit 612 is equipped with inner groovy, and the rollway 62 is in close to the side of helical orbit 612 Outer gibbosity, and it is oblique close to the end of helical orbit 612, the feed inlet of the material return mechanism 7 is in outer gibbosity, and it is leaned on The side for being located at material return mechanism 7 on the nearly rollway 62 is equipped with inner groovy, and the rollway 62 and helical orbit 612 and Material return mechanism 7 matches.

Feeding orbit 63, the rollway 62 are equipped with positioned at the side of rollway 62 on feed tank 6 described in the present embodiment It is connect by sliding block with feeding orbit 63, the sliding block is connect with slider-actuated mechanism, and the slider-actuated mechanism and control fill 2 connections are set, and the rollway 62 is equipped with groove, is equipped with conveyer belt 623 in the groove.

Embodiment 9

A kind of adjustable, facilitation mechanical arm for bottle body sealing described in the present embodiment, this is used for bottle body sealing Adjustable, the specific working principle of facilitation mechanical arm it is as follows:

1): efficient mechanical arm being assembled first, i.e., is first passed through forearm 132 and postbrachium 133 by flexible card key 134 Corresponding perforation is attached on forearm 132 and postbrachium 133, then installs anti-skidding block piece 135 at the both ends of flexible card key 134, Strengthening mechanism 5 is set in the junction of forearm 132 and postbrachium 133 again, so far mechanical arm 13 is installed；

2): and then column 12 makees rotation connection by rotating disk 124 and fixing seat 122, fixing seat 122 passes through transverse slider 123 connect with cross track 111；Mechanical arm 13 and connection frame 131 are installed again, i.e., it is longitudinal sliding block 3 and connection frame 131 is fixed Longitudinal sliding block 3, is then installed in long rails 121, and longitudinal sliding block 3 is connect with longitudinal sliding block driving mechanism by connection； At the same time, feed tank 6 is assembled, then the feed tank 6 being completed is installed to the inside of column 11, allow its with it is preceding Arm 132 matches；

3): position detecting device 43, bottle cap testing agency 7 and position sensor 44 are installed to corresponding position again, then Control circuit is attached, can be come into operation；

4): during the work time, bottle cap being placed in feed tank 6 first；

5): the motor driven vibrator in feed tank 6 is vibrated, and allows bottle cap along helical orbit 612 to rollway 62 Direction is mobile；

When bottle cap is run to the feed inlet of rollway 62, position sensor 44 detects on rollway 62 whether have bottle cap；

If having bottle cap on detection rollway 62, bottle cap will be to motionless in situ, when its detection structure is displayed without When bottle cap, control device 2 opens order position-limit mechanism 613, allows bottle cap to can smoothly enter into rollway 62, and enter on rollway 62 Groove in, drive bottle cap to be moved to the designated position of rollway 62 by conveyer belt 623 below groove；

6): then bottle cap testing agency 7 to bottle cap direction detect, when its find bottle cap towards it is incorrect when, control Bottle cap is delivered to material return mechanism 7 by order conveyer belt 623 by device 2 processed, if the bottle cap of detection is controlled towards meeting the requirements Device 2 processed starts to work order mechanical arm 13；

7): 2 command position sensor 44 of control device first detects the position of bottle cap, then according to the knot of detection Fruit, order manipulator 42 grab the bottle cap on rollway 62, and the top of bottle cap is stuck in the limit hole 41 of disk 4；

8): and then control device 2 detects command position detection device 43 to the position of bottleneck on bottle body, and will inspection The result of survey sends control device 2 to, and then the data processing module in control device 2, analyzes data, analysis obtains The specific location of bottleneck；

9): to after control device 2 obtains the specific location of bottleneck, drive machinery by mechanical arm 13 in previous step Hand 42 will be on the bottle cap that grabbed in step 7 to corresponding bottleneck；

10): and then drive disk 4 to rotate by disk driving mechanism, in the process that disk 4 and manipulator 42 rotate simultaneously In, bottle cap is tightened；

11): in above-mentioned steps 4 to 11, its lateral position can be adjusted according to the actual needs of robot, be allowed The fixing seat 122 of the lower part of column 12 is moved to suitable position along cross track 111, and column 12 passes through in fixing seat 122 Rotating disk 124 carry out direction adjustment；

12): meanwhile, the length and height of mechanical arm 13 can also be adjusted according to the actual needs, mechanical arm 13 Length flexible adjustment can be realized by carrying out to forearm 132 and 133 junction of postbrachium；

The height of mechanical arm 13 adjusts, i.e., drives longitudinal sliding block 3 along long rails 121 by longitudinal sliding block driving mechanism It moves up and down, due to allowing mechanical arm 13 to connect by connection frame 131 with longitudinal sliding block 3, thus moved up and down in longitudinal sliding block 3 In the process, drive mechanical arm 13 mobile together, to realize the height adjustment of mechanical arm 13；

13): at the same time, rollway 62 is moved up and down along feeding orbit 63 during the work time, by sliding block, to confession The position of material platform 62 is adjusted.

Embodiment 10

The position detecting device 43 uses infrared position sensor.

The bottle cap testing agency 621 uses industrial camera, is shot by industrial camera to bottle cap, then passes through bat The image taken the photograph judges the direction of its bottle cap.

Mechanical arm control module, feed control module, detection control mould are equipped in control device 2 described in the present embodiment It is longitudinal to be equipped with mechanical arm lateral position regulation unit, mechanical arm in the mechanical arm control module for block and controller module Position regulation unit, angular adjustment control unit, mechanical arm control unit, disk drive control unit and manipulator control Unit, mechanical arm lateral position regulation unit are connect with transverse slider driving mechanism, the mechanical arm lengthwise position Regulation unit is connect with longitudinal sliding block driving mechanism, and the angular adjustment control unit is connect with rotary disk drive mechanism, The mechanical arm control unit is connect with mechanical arm 13, and the disk drive control unit is connect with disk driving mechanism, described Manipulator control unit is connect with manipulator 42；

Riko cover control unit, rollway control unit, limit control unit and transmission are equipped in the feed control module Tape control unit, the riko cover control unit are connect with lid treatment device 61 and rollway 62 respectively, and rollway control is single Rollway height adjustment control module is additionally provided in member, the limit control unit is connect with position-limit mechanism 613, the rollway The height adjustment control module slider-actuated mechanism mobile with driving sliding block is connect, the transmission tape control unit and conveyer belt 623 connections；

Position of bottleneck detection control unit, position sensor control unit, bottle cap court are equipped in the detection control module To detection control unit and bottle cap detection control unit, the position of bottleneck detection control unit and position detecting device 43 connect It connects, the position sensor control unit is connect with position sensor 44, and the bottle cap is examined towards detection control unit and bottle cap It surveys mechanism 621 to connect, the position detecting device 43 is connect with infrared detector 622；

The mechanical arm control module, feed control module, detection control module are connect with controller module.

A kind of adjustable, facilitation mechanical arm working method for bottle body sealing, the use described in the present embodiment It is as follows in the adjustable of bottle body sealing, the specific working method of facilitation mechanical arm:

4): during the work time, bottle cap being placed in feed tank 6 first；

The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art For art personnel, without departing from the principle of this utility model, several improvement can also be made, these improvement also should be regarded as The protection scope of the utility model.

Claims

1. a kind of adjustable, facilitation mechanical arm for bottle body sealing, it is characterised in that: include: robot (1) and control dress It sets (2), pedestal (11), column (12) and mechanical arm (13) is equipped in the robot (1), the column (12) is set to pedestal (11) on, and the column (12) is equipped with long rails (121), and the mechanical arm (13) and the connecting pin of column (12) are equipped with Connection frame (131), the connection frame (131) are equipped with longitudinal sliding block (3) far from the side of mechanical arm (13), the longitudinal sliding block (3) it is installed in long rails (121), and the longitudinal sliding block (3) is connect with longitudinal sliding block driving mechanism；

The mechanical arm (13) is equipped with disk (4) far from the one end of column (12), and the disk (4) and disk driving mechanism connect It connects, and the lower part of the disk (4) is equipped with limit hole (41), the outside of the limit hole (41) is equipped with manipulator (42), and institute Disk (4) are stated equipped with the position sensing for detecting the position detecting device (43) of position of bottleneck and for detecting bottle cap position The inside of device (44), the manipulator (42) is equipped with raised (421), and the disk (4) and mechanical arm (13) use movable company Connect, and the depth of the limit hole (41) is less than height with bottle cap, the mechanical arm (13), disk (4), manipulator (42), Longitudinal sliding block driving mechanism and position detecting device (43) and position sensor (44) are connect with control device (2).

2. adjustable, the facilitation mechanical arm according to claim 1 for bottle body sealing, it is characterised in that: the base Seat (11) is equipped with cross track (111), and the lower part of the column (12) is equipped with fixing seat (122), under the fixing seat (122) Side is equipped with the transverse slider (123) connecting with cross track (111), the transverse slider (123) and transverse slider driving mechanism Connection, and rotating disk (124) are equipped in the fixing seat (122), the column (12) passes through rotating disk (124) and fixing seat (122) make rotation connection, the rotating disk (124) connect with rotary disc driving mechanism, the transverse slider driving mechanism and turntable Driving mechanism is connect with control device (2).

3. adjustable, the facilitation mechanical arm according to claim 1 for bottle body sealing, it is characterised in that: the machine Forearm (132) and postbrachium (133) are equipped in tool arm (13), the forearm (132) and postbrachium (133) use telescopic connection, The postbrachium (133) is connect by connection frame (131) with column (12), and the forearm (132) and postbrachium (133) junction are set There are strengthening mechanism (5).

4. adjustable, the facilitation mechanical arm according to claim 3 for bottle body sealing, it is characterised in that: before described It is equipped with one group of perforation, the forearm (132) and postbrachium (133) junction on arm (132) and postbrachium (133) and passes through card key of stretching (134) corresponding perforation on forearm (132) and postbrachium (133) is passed through, and, the both ends of the flexible card key (134) are equipped with anti-skidding Block piece (135), the anti-skidding block piece (135) are detachably connected with flexible card key (134) both ends.

5. adjustable, the facilitation mechanical arm according to claim 3 for bottle body sealing, it is characterised in that: described to add Gu protective shell (51) in mechanism (5), protective shell (51) both ends are tapered, are set to the company of forearm (132) and postbrachium (133) Place is met, and the protective shell (51) extends from the junction of the two to two sides, the protective shell (51) and forearm (132) and postbrachium (133) detachable connection is used, and, the inside of the protective shell (51) is equipped with protective jacket, and the protective jacket is equipped with texture.

6. adjustable, the facilitation mechanical arm according to claim 1 for bottle body sealing, it is characterised in that: described vertical The side of column (12) is equipped with feed tank (6), and the feed tank (6) is equipped with lid treatment device (61) and rollway (62), the reason Reason charging tray (611) is equipped in lid arrangement (61), the lower section of reason charging tray (611) is equipped with vibrator, and the reason charging tray (611) It is interior to be equipped with helical orbit (612), the opening of bottom direction reason charging tray (611) of helical orbit (612) the self-care charging tray (611) Direction is arranged in the shape of a spiral, and the helical orbit (612) communicates with rollway (62), and the outlet of the helical orbit (612) Position-limit mechanism (613) are equipped at end and the feed inlet of rollway (62), the rollway (62) is equipped with for detecting bottle cap side To bottle cap testing agency (621) and for detecting whether there is the infrared detector (622) of bottle cap, and the helical orbit (612), position-limit mechanism (613), bottle cap testing agency (621) and infrared detector (622) are connect with control device (2).

7. adjustable, the facilitation mechanical arm according to claim 6 for bottle body sealing, it is characterised in that: the confession It is additionally provided on hopper (6) material return mechanism (7), and the material return mechanism (7) is connect with control device (2).

8. adjustable, the facilitation mechanical arm according to claim 7 for bottle body sealing, it is characterised in that: the spiral shell The outlet end for revolving track (612) is equipped with inner groovy, and the rollway (62) is in outer gibbosity close to the side of helical orbit (612), And it is oblique close to the end of helical orbit (612), the feed inlet of the material return mechanism (7) is in outer gibbosity, the feed On platform (62) positioned at material return mechanism (7) side be equipped with inner groovy, and the rollway (62) and helical orbit (612) and time Expect that mechanism (7) cooperate.

9. adjustable, the facilitation mechanical arm according to claim 8 for bottle body sealing, it is characterised in that: the confession Side on hopper (6) positioned at rollway (62) is equipped with feeding orbit (63), and the rollway (62) passes through sliding block and feed rail Road (63) connection, the sliding block are connect with slider-actuated mechanism, and the slider-actuated mechanism is connect with control device (2), and institute It states rollway (62) and is equipped with groove, be equipped with conveyer belt (623) in the groove.